CN205203232U - Omnidirectional movement balance car - Google Patents

Abstract

The utility model provides an omnidirectional movement balance car, includes the frame, its characterized in that still includes expansion board, a plurality of motor, a plurality of encoder, shaft coupling, transmission shaft, a concentric shaft, the 2nd concentric shaft, first ring flange, second ring flange, a plurality of bearing frame, a plurality of mecanum wheel, control panel, first gear, second gear, battery, expansion board, gyroscope, acceleration sensor, the frame includes upper plate, hypoplastron, the utility model has the advantages that the whole structure is simple it is single, adopted this kind of all direction movement of mecanum wheel mode, mecanum wheel compact structure, the motion is nimble, is very successful one kind all -round round. Make up by 4 novel wheels of this kind, can more nimble convenient realization all direction movement function. Motion modes such as omnidirectional movement balance car based on mecanum wheel technique can realize moving ahead, sideslip, diagonal, rotation and combination, especially adapted transportation space is limited, the constrictive environment operation of operation passageway.

Description

An omnidirectional mobile balance car

technical field

The utility model relates to a balance car, in particular to an omnidirectional mobile balance car.

Background technique

The two-wheel balance car is a new type of green vehicle driven by electricity and has self-balancing ability. It has been used in the inspection work of staff in various large venues, and it will be further popularized and used as a personal short-distance transportation tool. The balance car adopts the method of fixing two wheels side by side, like a robot with two parallel wheels. The two-wheel balance control system is a kind of two-wheel left and right parallel arrangement, like the traditional inverted pendulum, which is a naturally unstable body and must be strengthened to make it stable. Because the two-wheel balance car has the advantages of flexible movement, intelligent operation, simple operation, power saving, green environmental protection, and small turning radius, it is suitable for operation in a small space.

The working principle of the balance car is very similar to the body's own balance system. As far as our human body is concerned, when the center of gravity of the body is leaning forward, we need to walk forward in order to ensure balance; while when the center of gravity is leaning backward, we need to walk backward, which is the same reason.

When we are driving the balance car, the two wheels of the balance car replace the feet. Very similar to the balance system of the body, when our center of gravity leans forward, the intelligent system will automatically sense and drive the wheels forward precisely; similarly, when our body leans backward, the wheels will move forward post exercise. This set of working principles is also called the principle of dynamic balance, which is why the self-balancing car is called a self-balancing car; sometimes it is also called a somatosensory car, because it can sense changes in the body's center of gravity and change due to changes in the driver's posture. Driving state; sometimes it is also called a thinking car, because it can sense changes in the center of gravity and intelligently adjust its posture and operation.

The self-balancing car uses the principle of "dynamic balance", adopts motion compensation algorithm, and uses its internal gyroscope and acceleration sensor to accurately detect small changes in the posture of the car body, and uses the exquisite servo control system to sensitively drive the motor to perform corresponding adjustments. Adjust to maintain the stability and balance of the whole car body.

Existing balance car tires mostly adopt pneumatic rubber tires, and the material and structure of the tires cause it to be unfavorable for sharp turns.

Utility model content

In order to solve the above problems, the utility model provides an omnidirectional mobile balance car, and the specific technical scheme is as follows.

An omnidirectional mobile balance car, including a frame, and also includes an expansion board, several motors, several encoders, couplings, transmission shafts, a first concentric shaft, a second concentric shaft, a first flange, a second Two flanges, several bearing seats, several mecanum wheels, control board, first gear, second gear, battery, expansion board, gyroscope, acceleration sensor;

The vehicle frame includes an upper board and a lower board;

The motors include a first motor, a second motor, a third motor, and a fourth motor; the motors are fixedly connected to the lower plate; each of the motor tails is equipped with an encoder;

The coupling includes a first coupling, a second coupling, a third coupling, and a fourth coupling;

The mecanum wheel includes a first mecanum wheel, a second mecanum wheel, a third mecanum wheel, and a fourth mecanum wheel;

The first motor is connected to the first concentric shaft through a first coupling, the first concentric shaft is connected to the first mecanum wheel through a first flange, and the second motor is connected through a second coupling Connected to the transmission shaft, the transmission shaft transmits power to the second concentric shaft through the gear set, and the second concentric shaft is connected to the second mecanum wheel through the second flange;

The first concentric shaft, the second concentric shaft and the transmission shaft are respectively connected to the vehicle frame through the bearing seat.

The control board is fixedly connected with the upper board.

The expansion board is fixedly connected with the upper board.

The battery is fixedly connected to the upper board.

The structure of the balance car is symmetrical from left to right.

The utility model has a simple overall structure and adopts the omni-directional moving mode of the mecanum wheel. Many small rollers are distributed obliquely on its rim, so the wheel can slide laterally. The generatrix of the small rollers is very special. When the wheel rotates around the fixed wheel mandrel, the envelope of each small roller is a cylindrical surface, so the wheel can roll forward continuously. The mecanum wheel is compact in structure and flexible in movement, and is a very successful all-round wheel. Combining four new wheels of this type can realize all-round mobile functions more flexibly and conveniently. The omnidirectional mobile balance vehicle based on the Mecanum wheel technology can realize forward movement, lateral movement, oblique movement, rotation and combinations thereof, which is very suitable for environmental operations with limited transfer space and narrow working channels.

Description of drawings

Hereinafter, some specific embodiments of the present invention will be described in detail by way of illustration and not limitation with reference to the accompanying drawings. The same reference numerals in the drawings designate the same or similar parts or parts. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale.

Figure 1 is an overall schematic diagram of the omnidirectional mobile balance car.

Figure 2 is a schematic diagram of the top view of the omnidirectional mobile balance car (with parts such as the upper plate removed).

Fig. 3 is a structural diagram of the omnidirectional mobile balancing vehicle cut at the center of the first concentric axis.

Fig. 4 is a structural diagram of the omnidirectional mobile balancing vehicle cut at the center of the second concentric axis.

In the drawings: 1—battery, 2—expansion board, 3—control board, 4—upper board, 5—lower board, 6—first mecanum wheel, 7—second mecanum wheel, 8—first Motor, 9—second motor, 10—encoder, 11—third motor, 12—fourth motor, 13—third mecanum wheel, 14—fourth mecanum wheel, 15—first flange , 16—the first concentric shaft, 17—the first bearing, 18—the second flange, 19—the second concentric shaft, 20—the second bearing, 21—the second bearing seat, 22—the second gear, 23— The third bearing, 24—the third bearing seat, 25—the first coupling, 26—the first flange bearing, 27—the first flange bearing seat, 28—the first gear, 29—the second flange bearing, 30—the second flange bearing seat, 31—the transmission shaft, 32—the second shaft coupling.

detailed description

Those skilled in the art will be more aware of the above and other objects, advantages and features of the present invention according to the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings.

The first Mecanum wheel 6 is connected to the first motor 8 by the first concentric shaft 16, the first coupling 25, and the second Mecanum wheel 7 is composed of the second concentric shaft 19, the second gear 22, the first gear 28, The transmission shaft 31 and the second coupling 32 are connected to the second motor 9, and the third mecanum wheel 13 and the fourth mecanum wheel 14 are the same as the second mecanum wheel 7 and the first mecanum wheel 6 respectively. An encoder 10 is installed at the end of each motor, since the rotation of each mecanum wheel will generate axial and radial friction, the omnidirectional movement of the body can be realized by controlling the speed of the four motors, and the attitude is controlled by the corresponding gyroscope. instrument and acceleration sensor detection, and through the control board 3 to control the speed of the four motors to achieve. The expansion board 2 can be accumulated upwards to install other devices, such as cameras, to expand the functions of the omnidirectional mobile balance car.

So far, those skilled in the art should recognize that, although the exemplary embodiments of the present invention have been shown and described in detail herein, they can still be disclosed according to the present invention without departing from the spirit and scope of the present invention. Many other variants or modifications conforming to the principle of the utility model are directly determined or derived from the content. Therefore, the scope of the present invention should be understood and deemed to cover all such other variations or modifications.

Claims (5)

1. an Omni-mobile balance truck, comprise vehicle frame, it is characterized in that, also comprise expansion board, several motors, several coders, coupler, transmission shaft, the first concentric shafts, the second concentric shafts, the first flange, the second flange, several bearing seats, several Mecanum wheels, control desk, the first gear, the second gear, battery, expansion board, gyroscope, acceleration pick-up;

Described vehicle frame comprises upper plate, lower plate;

Described motor comprises the first motor, the second motor, the 3rd motor, the 4th motor; Described motor is fixedly connected with lower plate; Each described motor afterbody respectively installs a described coder;

Described coupler comprises the first coupler, the second coupler, the 3rd coupler, the 4th coupler;

Described Mecanum wheel comprises the first Mecanum wheel, the second Mecanum wheel, the 3rd Mecanum wheel, the 4th Mecanum wheel;

Described first motor is connected with described first concentric shafts by the first coupler, described first concentric shafts is connected with the first Mecanum wheel by the first flange, second motor is connected with described transmission shaft by the second coupler, transmission of power is given the second concentric shafts by described gear cluster by described transmission shaft, and described second concentric shafts is connected by the second flange with the second Mecanum wheel;

Described first concentric shafts, the second concentric shafts, transmission shaft are connected with described vehicle frame respectively by described bearing seat.

2. a kind of Omni-mobile balance truck according to claim 1, it is characterized in that, described control desk is fixedly connected with described upper plate.

3. a kind of Omni-mobile balance truck according to claim 1, it is characterized in that, described expansion board is fixedly connected with described upper plate.

4. a kind of Omni-mobile balance truck according to claim 1, it is characterized in that, described battery is fixedly connected with described upper plate.

5. a kind of Omni-mobile balance truck according to claim 1, it is characterized in that, the structure of balance truck is symmetrical.